JPWO2014115197A1 - Imaging device, detection device - Google Patents

Abstract

An imaging unit that captures an image of light imaged by the optical system and generates image data; and a first angular velocity that is an angular velocity around a first axis substantially parallel to the optical axis of the optical system. When the first sensor and its own device are placed on a horizontal plane, a second angular velocity that is an angular velocity around a second axis that is an axis substantially perpendicular to the horizontal plane is detected. A sensor, a third sensor for detecting an angle of rotation about a third axis substantially perpendicular to a plane formed by the first axis and the second axis, and information indicating the second angular velocity And a processing unit for processing the information indicating the first angular velocity based on the information indicating the angle.

Description

  The present disclosure relates to an imaging apparatus and a detection apparatus.

  Patent Document 1 discloses an electronic camera. The electronic camera includes a memory that stores a video signal that has undergone camera shake correction, and a coordinate conversion unit that is connected to the memory and that performs rotational coordinate conversion with the center of the screen of the video signal as the origin.

  Thereby, this electronic camera can correct inclination easily.

JP 2002-94877 A

  The present disclosure provides an imaging apparatus and a detection apparatus that can detect an inclination that is a rotation direction around an axis substantially parallel to the optical axis and that is not intended by a user with higher accuracy.

  An imaging apparatus according to an embodiment of the present disclosure captures light imaged by an optical system and generates image data, and an angular velocity about a first axis substantially parallel to the optical axis of the optical system. A first sensor that detects an angular velocity of 1 and a second sensor that is an angular velocity around a second axis that is an axis substantially perpendicular to the horizontal plane when the device is placed on a horizontal plane. A second sensor for detecting an angular velocity; a third sensor for detecting an angle of rotation about a third axis substantially perpendicular to a plane formed by the first axis and the second axis; And a processing unit that performs processing on the information indicating the first angular velocity based on the information indicating the second angular velocity and the information indicating the angle.

  In addition, when the detection device according to the present disclosure is placed on a horizontal plane, a first sensor that detects a first angular velocity that is an angular velocity around a first axis substantially parallel to the optical axis of the optical system, and Includes a second sensor for detecting a second angular velocity that is an angular velocity around a second axis that is substantially perpendicular to the horizontal plane, and a first axis and a second axis. Based on the third sensor for detecting the angle of rotation about the third axis substantially perpendicular to the plane to be formed, the information indicating the second angular velocity, and the information indicating the angle, the first angular velocity And a processing unit that performs processing on information indicating.

  As a result, the present disclosure can provide an imaging device and a detection device that can detect a tilt that is a rotation direction about an axis substantially parallel to the optical axis and that is not intended by the user with higher accuracy.

FIG. 1 is a schematic diagram for explaining a rotation axis related to the digital video camera 100. FIG. 2 is a block diagram showing an electrical configuration of the digital video camera 100. FIG. 3 is a block diagram illustrating a configuration related to the inclination correction processing. FIG. 4A is a schematic diagram for explaining a method of calculating the tilt angle of the digital video camera 100. FIG. 4B is a schematic diagram for explaining a calculation method of the turning angle of the digital video camera 100. FIG. 5A is a schematic diagram for explaining the gyro output when there is no turning angle. FIG. 5B is a schematic diagram for explaining the gyro output when there is a turning angle.

  Hereinafter, embodiments will be described in detail with reference to the drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed descriptions of already well-known matters and repeated descriptions for substantially the same configuration may be omitted. This is to avoid the following description from becoming unnecessarily redundant and to facilitate understanding by those skilled in the art.

  In addition, the inventor (s) provides the accompanying drawings and the following description in order for those skilled in the art to fully understand the present disclosure, and these are intended to limit the claimed subject matter. It is not a thing.

(Embodiment 1)
Hereinafter, Embodiment 1 will be described with reference to the drawings.

[1. Overview〕
An outline of the digital video camera 100 will be described with reference to FIGS. FIG. 1 is a schematic diagram showing an outline of the digital video camera 100. FIG. 2 is a block diagram showing an electrical configuration of the digital video camera 100. As shown in FIG. 1, the direction in which the digital video camera 100 rotates about a Z axis substantially parallel to the optical axis is referred to as a roll direction. In addition, when the digital video camera 100 is placed on a horizontal plane with respect to the digital video camera 100, a direction that rotates about the Y axis that is substantially perpendicular to the horizontal plane is referred to as a yaw direction. Note that the Y-axis is inclined at the same angle in the same direction as the digital video camera 100 when the digital video camera 100 is inclined at a predetermined angle with respect to the horizontal plane. In addition, a direction in which the digital video camera 100 rotates about an X axis substantially perpendicular to a plane formed by the Z axis and the Y axis is referred to as a pitch direction.

  The digital video camera 100 has a function of reducing the influence of tilt on a captured image. Here, the inclination refers to an inclination in the roll direction that is not intended by the user. The inclination includes a static inclination and a dynamic inclination. The static tilt is a tilt that occurs when the user holds the digital video camera 100 at a predetermined angle in the roll direction. On the other hand, the dynamic tilt is a shake in the roll direction caused by a shake of the hand of the user holding the digital video camera 100.

  It is assumed that the user rotates the digital video camera 100 about an axis perpendicular to the horizontal plane with the digital video camera 100 tilted by a predetermined angle in the pitch direction. Although details will be described later, in this case, the rotation of the digital video camera 100 about an axis perpendicular to the horizontal plane includes a rotation component in the yaw direction and a rotation component in the roll direction of the digital video camera 100. Will have. However, the rotation component in the roll direction does not actually rotate the image captured by the digital video camera 100 in the roll direction. If processing for reducing the influence of the rotation component in the roll direction on the captured image is performed, the digital video camera 100 rotates the captured image that has not been rotated. That is, in this case, it can be said that the digital video camera 100 erroneously detects the rotation component in the roll direction.

  Therefore, the digital video camera 100 includes a CMOS image sensor 140, an angular velocity sensor 250R, an angular velocity sensor 250Y, an acceleration sensor 260, and a controller 180. The CMOS image sensor 140 captures the light imaged by the optical system 110 and generates image data. The angular velocity sensor 250R detects a first angular velocity that is an angular velocity around a first axis substantially parallel to the optical axis of the optical system 110. The angular velocity sensor 250Y detects a second angular velocity that is an angular velocity around a second axis that is an axis that is substantially perpendicular to the horizontal plane when the device is placed on the horizontal plane. The acceleration sensor 260 detects an angle of rotation about a third axis that is substantially perpendicular to a plane formed by the first axis and the second axis. The controller 180 performs processing on the information indicating the first angular velocity based on the information indicating the second angular velocity and the information indicating the angle.

  As a result, the digital video camera 100 can detect the tilt in the rotation direction about the axis substantially parallel to the optical axis, which is not intended by the user, with higher accuracy.

[2. Electrical configuration of digital video camera 100]
The electrical configuration of the digital video camera 100 will be described with reference to FIG. The digital video camera 100 captures a subject image formed by an optical system 110 including one or a plurality of lenses with a CMOS image sensor 140. The image data generated by the CMOS image sensor 140 is subjected to various processes by the image processing unit 160 and stored in the memory card 200. Hereinafter, the configuration of the digital video camera 100 will be described in detail.

  The optical system 110 includes a zoom lens, a camera shake correction lens, a focus lens, a diaphragm, and the like. The subject image can be enlarged or reduced by moving the zoom lens along the optical axis. Further, the focus of the subject image can be adjusted by moving the focus lens along the optical axis. The camera shake correction lens is movable in a plane perpendicular to the optical axis of the optical system 110. By moving the camera shake correction lens in a direction that cancels the shake of the digital video camera 100, the influence of the shake of the digital video camera 100 on the captured image can be reduced. Further, the diaphragm adjusts the amount of transmitted light by adjusting the size of the opening in accordance with the setting of the user or automatically.

  The optical system 110 includes a zoom actuator that drives a zoom lens, a camera shake correction actuator that drives a camera shake correction lens, a focus actuator that drives a focus lens, and a diaphragm actuator that drives a diaphragm.

  The lens driving unit 120 drives various lenses and a diaphragm included in the optical system 110. The lens driving unit 120 controls, for example, a zoom actuator, a focus actuator, a camera shake correction actuator, and an aperture actuator included in the optical system 110.

  The CMOS image sensor 140 captures a subject image formed by the optical system 110 and generates image data. The CMOS image sensor 140 performs various operations such as exposure, transfer, and electronic shutter.

  The A / D converter 150 converts analog image data generated by the CMOS image sensor 140 into digital image data.

  The image processing unit 160 performs various processes on the image data generated by the CMOS image sensor 140, generates image data to be displayed on the display monitor 220, and stores image data to be stored in the memory card 200. Or generate. For example, the image processing unit 160 performs various processes such as gamma correction, white balance correction, and flaw correction on the image data generated by the CMOS image sensor 140. The image processing unit 160 converts the image data generated by the CMOS image sensor 140 into the H.264 format. It compresses by the compression format etc. based on H.264 standard or MPEG2 standard. The image processing unit 160 can be realized by a DSP, a microcomputer, or the like.

  The image processing unit 160 can reduce the influence of the tilt on the image formed on the CMOS image sensor 140 by performing rotation processing on the image data. For example, assume that the photographer has photographed the subject with the digital video camera 100 tilted in the counterclockwise direction by θ (deg). In this case, an image with the subject tilted by θ (deg) in the clockwise direction is taken. At this time, the image processing unit 160 cuts out image data using a position inclined by θ (deg) in the clockwise direction as a cut-out position. Then, image data in which the subject is not tilted is cut out. With such a method, the image processing unit 160 generates an image with reduced inclination.

  The controller 180 is a control unit that controls the entire digital video camera 100. Further, the controller 180 generates a vertical synchronization signal with a period of 60 (fps). For example, the image processing unit 160 performs the tilt correction process of the captured image within the vertical synchronization period. As a result, an image appropriately tilt-corrected can be obtained. The controller 180 can be realized by a semiconductor element or the like. The controller 180 may be configured only by hardware, or may be realized by combining hardware and software. The controller 180 can be realized by a microcomputer or the like.

  The buffer 170 functions as a work memory for the image processing unit 160 and the controller 180. The buffer 170 can be realized by, for example, a DRAM or a ferroelectric memory.

  The card slot 190 is detachable from the memory card 200. The card slot 190 can be mechanically and electrically connected to the memory card 200. The memory card 200 includes a flash memory, a ferroelectric memory, and the like, and can store data such as an image file generated by the image processing unit 160.

  The internal memory 240 is composed of a flash memory or a ferroelectric memory. The internal memory 240 stores a control program for controlling the entire digital video camera 100 and the like.

  The operation member 210 is a generic name for a user interface that receives an operation from a user. The operation member 210 is, for example, a cross key or a determination button that receives an operation from the user.

  The display monitor 220 can display an image indicated by image data generated by the CMOS image sensor 140 or an image indicated by image data read from the memory card 200. The display monitor 220 can also display various menu screens for performing various settings of the digital video camera 100.

  The angular velocity sensor 250 is a sensor that detects an angular velocity. The angular velocity sensor 250 includes an angular velocity sensor 250R that detects an angular velocity in the roll direction and an angular velocity sensor 250Y that detects an angular velocity in the yaw direction shown in FIG.

  The acceleration sensor 260 is a sensor that detects acceleration. The acceleration sensor 260 includes an acceleration sensor 260X that detects acceleration in the X-axis direction shown in FIG. 1, an acceleration sensor 260Y that detects acceleration in the Y-axis direction, and an acceleration sensor 260Z that detects acceleration in the Z-axis direction.

[3. (Tilt correction processing)
The rotation angle correction process in the digital video camera 100 will be described with reference to FIGS. FIG. 3 is a block diagram showing a configuration related to tilt correction processing in the digital video camera 100. FIG. 4A is a schematic diagram for explaining a method of calculating the tilt angle of the digital video camera 100. FIG. 4B is a schematic diagram for explaining a calculation method of the turning angle of the digital video camera 100. FIG. 5A is a schematic diagram for explaining the output of the angular velocity sensor 250 when there is no turning angle. FIG. 5B is a schematic diagram for explaining the output of the angular velocity sensor 250 when there is a turning angle.

  The rotation angle correction process in the digital video camera 100 is performed by sequentially executing Step 1 to Step 4. Step 1 is a step of calculating a tilt angle of the digital video camera 100 that is a static tilt and a turn angle. Step 2 is a step of calculating a dynamic tilt misdetection amount from the output of the angular velocity sensor 250Y and the turning angle calculated in Step 1. Step 3 is a step of calculating the dynamic inclination to be corrected by subtracting the dynamic inclination erroneous detection amount from the output of the angular velocity sensor 250R. Step 4 is a step of calculating the inclination to be corrected by adding the inclination angle, which is the static inclination calculated in Step 1, and the dynamic inclination to be corrected calculated in Step 3. Hereinafter, step 1 to step 4 will be described in order.

[3-1. Step 1]
First, in step 1, the tilt angle calculation unit 300 and the turn angle calculation unit 310 obtain the output from the acceleration sensor 260 as shown in FIG. 3. Specifically, the tilt angle calculation unit 300 and the turn angle calculation unit 310 obtain information regarding acceleration in the X-axis direction, information regarding acceleration in the Y-axis direction, and information regarding acceleration in the Z-axis direction of the digital video camera 100. .

Then, the tilt angle calculation unit 300 calculates the tilt angle of the digital video camera 100 based on the acquired information. A method for calculating the tilt angle will be described with reference to FIG. 4A. Here, the inclination angle is θ (deg). Further, X ₀ axis indicates the X-axis in the case where the digital video camera 100 is not tilted. X ₁ axis indicates the X-axis in the case where the digital video camera 100 is tilted inclination angle θ (deg). Y ₀ axis indicates the Y-axis when the digital video camera 100 is not tilted. The Y ₁ axis indicates the Y axis when the digital video camera 100 is inclined at an inclination angle θ (deg).

  The inclination angle θ (deg) is calculated by equation (1).

In formula (1), _{X 1} is an output of the acceleration sensor 260X. That, _{X 1} represents the acceleration of the _{X 1} axis. Y ₁ is an output of the acceleration sensor 260Y. That is, Y ₁ represents the acceleration in the Y ₁ axis direction. Z ₁ is an output of the acceleration sensor 260Z. That, _{Z 1} represents an acceleration of the _{Z 1} axial direction.

Further, the turning angle calculation unit 310 calculates the turning angle of the digital video camera 100 based on the acquired information. A method of calculating the turning angle will be described with reference to FIG. 4B. Here, the turning angle is φ (deg). The Z ₀ axis indicates the Z axis when the digital video camera 100 is not turned. The Z ₁ axis indicates the Z axis when the digital video camera 100 is turned at a turning angle φ (deg).

  The turning angle φ (deg) is calculated by the equation (2).

Note that X ₁ , Y ₁ , and Z ₁ in Formula (2) are the same as in Formula (1).

  The tilt angle calculation unit 300 and the turn angle calculation unit 310 perform a calculation process based on the equations (1) and (2), so that the tilt angle of the digital video camera 100 that is a static tilt and the digital video camera are calculated. 100 turn angles are calculated.

[3-2. Step 2]
Next, in step 2, as shown in FIG. 3, the misdetection amount calculation unit 320 acquires information on the angular velocity in the yaw direction of the digital video camera 100 from the angular velocity sensor 250Y, and the digital video camera from the turning angle calculation unit 310. Information on 100 turn angles is acquired. The erroneous detection amount calculation unit 320 calculates an erroneous detection amount related to dynamic tilt based on the acquired information related to the angular velocity in the yaw direction and the information related to the turning angle of the digital video camera 100.

  The reason why the erroneous detection related to the dynamic inclination occurs and the calculation method of the erroneous detection amount will be described with reference to FIGS. 5A and 5B. As shown in FIG. 5A, when the turning angle of the digital video camera 100 is 0 (deg), the centrifugal force r is generated when the digital video camera 100 is rotated in the yaw direction. In this case, the angular velocity sensor 250Y calculates the angular velocity by detecting the centrifugal force r. The angular velocity sensor 250R does not detect the centrifugal force r. That is, since the digital video camera 100 is not rotating in the roll direction, the angular velocity sensor 250R calculates 0 (deg / sec) as the angular velocity. In this case, the digital video camera 100 has not made a false detection regarding the dynamic tilt.

  On the other hand, as shown in FIG. 5B, it is assumed that the turning angle of the digital video camera 100 is φ (deg). In this case, when the digital video camera 100 is rotated in the horizontal direction shown in FIG. 5B, a centrifugal force r is generated. Then, the angular velocity sensor 250Y detects a component of r · cos φ out of the centrifugal force r as a centrifugal force. Further, the angular velocity sensor 250R detects a component corresponding to r · sin φ of the centrifugal force r as a centrifugal force. However, even if the digital video camera 100 is rotated in the horizontal direction shown in FIG. 5B, the digital video camera 100 is not actually rotated in the roll direction. That is, the digital video camera 100 erroneously detects the component of r · sin φ as a dynamic inclination.

  The erroneous detection amount calculation unit 320 can calculate the amount of dynamic inclination erroneously detected by the angular velocity sensor 250R based on information regarding the angular velocity in the yaw direction acquired from the angular velocity sensor 250Y. The ratio of the influence of the centrifugal force r on the angular velocity sensor 250R and the influence on the angular velocity sensor 250Y is sinφ: cosφ as shown in FIG. 5B. That is, by multiplying the output of the angular velocity sensor 250Y by sinφ / cosφ, the angular velocity relating to the dynamic inclination erroneously detected by the angular velocity sensor 250R can be calculated.

[3-3. Step 3, Step 4]
When the erroneous detection amount of the dynamic inclination is calculated by the erroneous detection amount calculation unit 320, the subtractor 330, as step 3, information on the angular velocity indicating the erroneous detection amount of the dynamic inclination from the erroneous detection amount calculation unit 320. And information on the angular velocity in the roll direction of the digital video camera 100 is obtained from the angular velocity sensor 250R. Then, the subtracter 330 subtracts the information regarding the angular velocity indicating the acquired dynamic detection error amount of the dynamic inclination from the acquired information regarding the angular velocity in the roll direction. Thereby, the subtractor 330 can calculate information regarding the angular velocity indicating the dynamic inclination to be corrected.

  Then, as step 4, the adder 340 adds the information related to the tilt angle calculated in step 1 and the value obtained by integrating the period of the vertical synchronization signal to the information related to the dynamic tilt to be corrected calculated in step 3. The amount of inclination to be corrected is calculated. The adder 340 outputs information regarding the calculated inclination to the image processing unit 160.

  Then, the image processing unit 160 adjusts the cut-out position of the image generated by the CMOS image sensor 140 based on the calculated information regarding the tilt. Thereby, the digital video camera 100 can correct the tilt with higher accuracy.

[4. Effect etc.)
As described above, the digital video camera 100 according to the present embodiment includes the CMOS image sensor 140, the angular velocity sensor 250R, the angular velocity sensor 250Y, the acceleration sensor 260, and the controller 180. The CMOS image sensor 140 captures the light imaged by the optical system 110 and generates image data. The angular velocity sensor 250R detects a first angular velocity that is an angular velocity around a first axis substantially parallel to the optical axis of the optical system 110. The angular velocity sensor 250Y detects a second angular velocity that is an angular velocity around a second axis that is an axis that is substantially perpendicular to the horizontal plane when the device is placed on the horizontal plane. The acceleration sensor 260 detects an angle of rotation about a third axis that is substantially perpendicular to a plane formed by the first axis and the second axis. The controller 180 performs processing on the information indicating the first angular velocity based on the information indicating the second angular velocity and the information indicating the angle.

  As a result, the digital video camera 100 can detect the tilt in the rotation direction about an axis substantially parallel to the optical axis with higher accuracy.

  The digital video camera 100 according to the present embodiment further includes an image processing unit 160. Based on the information indicating the first angular velocity after processing by the controller 180, the image processing unit 160 has all or part of the influence that the rotation about the first axis has on the image data generated by the CMOS image sensor 140. Correct.

  Thereby, the digital video camera 100 according to the present embodiment can correct the tilt with higher accuracy.

(Other embodiments)
As described above, the first embodiment has been described as an example of the technique disclosed in the present application. However, the technology in the present disclosure is not limited to this, and can also be applied to an embodiment in which changes, replacements, additions, omissions, and the like are appropriately performed. Moreover, it is also possible to combine each component demonstrated in the said Embodiment 1, and it can also be set as a new embodiment.

  Therefore, other embodiments will be exemplified below.

  In the first embodiment, the digital video camera 100 corrects the tilt by adjusting the cutout position of the image captured by the CMOS image sensor 140. However, it is not necessarily limited to such a configuration. For example, the CMOS image sensor 140 itself may be configured to rotate based on the detected inclination.

  In the first embodiment, the technique of the present disclosure is applied to the digital video camera 100. However, it is not necessarily limited to such a configuration. For example, the present invention can be applied to an interchangeable lens digital camera.

  In the first embodiment, the digital video camera 100 accurately corrects the tilt in the roll direction based on the information on the angular velocity in the yaw direction, the information on the angular velocity in the roll direction, and the information on the turn angle. It was. However, it is not necessarily limited to such a configuration. For example, it is possible to correct the inclination in the pitch direction with high accuracy and to correct the inclination in the yaw direction with high accuracy.

  As described above, the embodiments have been described as examples of the technology in the present disclosure. For this purpose, the accompanying drawings and detailed description are provided.

  Accordingly, among the components described in the accompanying drawings and the detailed description, not only the components essential for solving the problem, but also the components not essential for solving the problem in order to illustrate the above technique. May also be included. Therefore, it should not be immediately recognized that these non-essential components are essential as those non-essential components are described in the accompanying drawings and detailed description.

  Moreover, since the above-mentioned embodiment is for demonstrating the technique in this indication, a various change, substitution, addition, abbreviation, etc. can be performed in a claim or its equivalent range.

  The technology of the present disclosure can be applied to an imaging apparatus such as a digital video camera, a digital still camera, and a smartphone with a camera function.

DESCRIPTION OF SYMBOLS 100 Digital video camera 110 Optical system 120 Lens drive part 140 CMOS image sensor 150 A / D converter 160 Image processing part 170 Buffer 180 Controller 190 Card slot 200 Memory card 210 Operation member 220 Display monitor 240 Internal memory 250,250R, 250Y Angular velocity sensor 260, 260X, 260Y, 260Z Acceleration sensor 300 Inclination angle calculation unit 310 Turn angle calculation unit 320 False detection amount calculation unit 330 Subtractor 340 Adder

  The present disclosure relates to an imaging apparatus and a detection apparatus.

  Patent Document 1 discloses an electronic camera. The electronic camera includes a memory that stores a video signal that has undergone camera shake correction, and a coordinate conversion unit that is connected to the memory and that performs rotational coordinate conversion with the center of the screen of the video signal as the origin.

  Thereby, this electronic camera can correct inclination easily.

JP 2002-94877 A

  The present disclosure provides an imaging apparatus and a detection apparatus that can detect an inclination that is a rotation direction around an axis substantially parallel to the optical axis and that is not intended by a user with higher accuracy.

  An imaging apparatus according to an embodiment of the present disclosure captures light imaged by an optical system and generates image data, and an angular velocity about a first axis substantially parallel to the optical axis of the optical system. A first sensor that detects an angular velocity of 1 and a second sensor that is an angular velocity around a second axis that is an axis substantially perpendicular to the horizontal plane when the device is placed on a horizontal plane. A second sensor for detecting an angular velocity; a third sensor for detecting an angle of rotation about a third axis substantially perpendicular to a plane formed by the first axis and the second axis; And a processing unit that performs processing on the information indicating the first angular velocity based on the information indicating the second angular velocity and the information indicating the angle.

  In addition, when the detection device according to the present disclosure is placed on a horizontal plane, a first sensor that detects a first angular velocity that is an angular velocity around a first axis substantially parallel to the optical axis of the optical system, and Includes a second sensor for detecting a second angular velocity that is an angular velocity around a second axis that is substantially perpendicular to the horizontal plane, and a first axis and a second axis. Based on the third sensor for detecting the angle of rotation about the third axis substantially perpendicular to the plane to be formed, the information indicating the second angular velocity, and the information indicating the angle, the first angular velocity And a processing unit that performs processing on information indicating.

  As a result, the present disclosure can provide an imaging device and a detection device that can detect a tilt that is a rotation direction about an axis substantially parallel to the optical axis and that is not intended by the user with higher accuracy.

FIG. 1 is a schematic diagram for explaining a rotation axis related to the digital video camera 100. FIG. 2 is a block diagram showing an electrical configuration of the digital video camera 100. FIG. 3 is a block diagram illustrating a configuration related to the inclination correction processing. FIG. 4A is a schematic diagram for explaining a method of calculating the tilt angle of the digital video camera 100. FIG. 4B is a schematic diagram for explaining a calculation method of the turning angle of the digital video camera 100. FIG. 5A is a schematic diagram for explaining the gyro output when there is no turning angle. FIG. 5B is a schematic diagram for explaining the gyro output when there is a turning angle.

  Hereinafter, embodiments will be described in detail with reference to the drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed descriptions of already well-known matters and repeated descriptions for substantially the same configuration may be omitted. This is to avoid the following description from becoming unnecessarily redundant and to facilitate understanding by those skilled in the art.

  In addition, the inventor (s) provides the accompanying drawings and the following description in order for those skilled in the art to fully understand the present disclosure, and these are intended to limit the claimed subject matter. It is not a thing.

(Embodiment 1)
Hereinafter, Embodiment 1 will be described with reference to the drawings.

[1. Overview〕
An outline of the digital video camera 100 will be described with reference to FIGS. FIG. 1 is a schematic diagram showing an outline of the digital video camera 100. FIG. 2 is a block diagram showing an electrical configuration of the digital video camera 100. As shown in FIG. 1, the direction in which the digital video camera 100 rotates about a Z axis substantially parallel to the optical axis is referred to as a roll direction. In addition, when the digital video camera 100 is placed on a horizontal plane with respect to the digital video camera 100, a direction that rotates about the Y axis that is substantially perpendicular to the horizontal plane is referred to as a yaw direction. Note that the Y-axis is inclined at the same angle in the same direction as the digital video camera 100 when the digital video camera 100 is inclined at a predetermined angle with respect to the horizontal plane. In addition, a direction in which the digital video camera 100 rotates about an X axis substantially perpendicular to a plane formed by the Z axis and the Y axis is referred to as a pitch direction.

  The digital video camera 100 has a function of reducing the influence of tilt on a captured image. Here, the inclination refers to an inclination in the roll direction that is not intended by the user. The inclination includes a static inclination and a dynamic inclination. The static tilt is a tilt that occurs when the user holds the digital video camera 100 at a predetermined angle in the roll direction. On the other hand, the dynamic tilt is a shake in the roll direction caused by a shake of the hand of the user holding the digital video camera 100.

  It is assumed that the user rotates the digital video camera 100 about an axis perpendicular to the horizontal plane with the digital video camera 100 tilted by a predetermined angle in the pitch direction. Although details will be described later, in this case, the rotation of the digital video camera 100 about an axis perpendicular to the horizontal plane includes a rotation component in the yaw direction and a rotation component in the roll direction of the digital video camera 100. Will have. However, the rotation component in the roll direction does not actually rotate the image captured by the digital video camera 100 in the roll direction. If processing for reducing the influence of the rotation component in the roll direction on the captured image is performed, the digital video camera 100 rotates the captured image that has not been rotated. That is, in this case, it can be said that the digital video camera 100 erroneously detects the rotation component in the roll direction.

  Therefore, the digital video camera 100 includes a CMOS image sensor 140, an angular velocity sensor 250R, an angular velocity sensor 250Y, an acceleration sensor 260, and a controller 180. The CMOS image sensor 140 captures the light imaged by the optical system 110 and generates image data. The angular velocity sensor 250R detects a first angular velocity that is an angular velocity around a first axis substantially parallel to the optical axis of the optical system 110. The angular velocity sensor 250Y detects a second angular velocity that is an angular velocity around a second axis that is an axis that is substantially perpendicular to the horizontal plane when the device is placed on the horizontal plane. The acceleration sensor 260 detects an angle of rotation about a third axis that is substantially perpendicular to a plane formed by the first axis and the second axis. The controller 180 performs processing on the information indicating the first angular velocity based on the information indicating the second angular velocity and the information indicating the angle.

  As a result, the digital video camera 100 can detect the tilt in the rotation direction about the axis substantially parallel to the optical axis, which is not intended by the user, with higher accuracy.

[2. Electrical configuration of digital video camera 100]
The electrical configuration of the digital video camera 100 will be described with reference to FIG. The digital video camera 100 captures a subject image formed by an optical system 110 including one or a plurality of lenses with a CMOS image sensor 140. The image data generated by the CMOS image sensor 140 is subjected to various processes by the image processing unit 160 and stored in the memory card 200. Hereinafter, the configuration of the digital video camera 100 will be described in detail.

  The optical system 110 includes a zoom lens, a camera shake correction lens, a focus lens, a diaphragm, and the like. The subject image can be enlarged or reduced by moving the zoom lens along the optical axis. Further, the focus of the subject image can be adjusted by moving the focus lens along the optical axis. The camera shake correction lens is movable in a plane perpendicular to the optical axis of the optical system 110. By moving the camera shake correction lens in a direction that cancels the shake of the digital video camera 100, the influence of the shake of the digital video camera 100 on the captured image can be reduced. Further, the diaphragm adjusts the amount of transmitted light by adjusting the size of the opening in accordance with the setting of the user or automatically.

  The optical system 110 includes a zoom actuator that drives a zoom lens, a camera shake correction actuator that drives a camera shake correction lens, a focus actuator that drives a focus lens, and a diaphragm actuator that drives a diaphragm.

  The lens driving unit 120 drives various lenses and a diaphragm included in the optical system 110. The lens driving unit 120 controls, for example, a zoom actuator, a focus actuator, a camera shake correction actuator, and an aperture actuator included in the optical system 110.

  The CMOS image sensor 140 captures a subject image formed by the optical system 110 and generates image data. The CMOS image sensor 140 performs various operations such as exposure, transfer, and electronic shutter.

  The A / D converter 150 converts analog image data generated by the CMOS image sensor 140 into digital image data.

  The image processing unit 160 performs various processes on the image data generated by the CMOS image sensor 140, generates image data to be displayed on the display monitor 220, and stores image data to be stored in the memory card 200. Or generate. For example, the image processing unit 160 performs various processes such as gamma correction, white balance correction, and flaw correction on the image data generated by the CMOS image sensor 140. The image processing unit 160 converts the image data generated by the CMOS image sensor 140 into the H.264 format. It compresses by the compression format etc. based on H.264 standard or MPEG2 standard. The image processing unit 160 can be realized by a DSP, a microcomputer, or the like.

  The image processing unit 160 can reduce the influence of the tilt on the image formed on the CMOS image sensor 140 by performing rotation processing on the image data. For example, assume that the photographer has photographed the subject with the digital video camera 100 tilted in the counterclockwise direction by θ (deg). In this case, an image with the subject tilted by θ (deg) in the clockwise direction is taken. At this time, the image processing unit 160 cuts out image data using a position inclined by θ (deg) in the clockwise direction as a cut-out position. Then, image data in which the subject is not tilted is cut out. With such a method, the image processing unit 160 generates an image with reduced inclination.

  The controller 180 is a control unit that controls the entire digital video camera 100. Further, the controller 180 generates a vertical synchronization signal with a period of 60 (fps). For example, the image processing unit 160 performs the tilt correction process of the captured image within the vertical synchronization period. As a result, an image appropriately tilt-corrected can be obtained. The controller 180 can be realized by a semiconductor element or the like. The controller 180 may be configured only by hardware, or may be realized by combining hardware and software. The controller 180 can be realized by a microcomputer or the like.

  The buffer 170 functions as a work memory for the image processing unit 160 and the controller 180. The buffer 170 can be realized by, for example, a DRAM or a ferroelectric memory.

  The card slot 190 is detachable from the memory card 200. The card slot 190 can be mechanically and electrically connected to the memory card 200. The memory card 200 includes a flash memory, a ferroelectric memory, and the like, and can store data such as an image file generated by the image processing unit 160.

  The internal memory 240 is composed of a flash memory or a ferroelectric memory. The internal memory 240 stores a control program for controlling the entire digital video camera 100 and the like.

  The operation member 210 is a generic name for a user interface that receives an operation from a user. The operation member 210 is, for example, a cross key or a determination button that receives an operation from the user.

  The display monitor 220 can display an image indicated by image data generated by the CMOS image sensor 140 or an image indicated by image data read from the memory card 200. The display monitor 220 can also display various menu screens for performing various settings of the digital video camera 100.

  The angular velocity sensor 250 is a sensor that detects an angular velocity. The angular velocity sensor 250 includes an angular velocity sensor 250R that detects an angular velocity in the roll direction and an angular velocity sensor 250Y that detects an angular velocity in the yaw direction shown in FIG.

  The acceleration sensor 260 is a sensor that detects acceleration. The acceleration sensor 260 includes an acceleration sensor 260X that detects acceleration in the X-axis direction, an acceleration sensor 260Y that detects acceleration in the Y-axis direction, and an acceleration sensor 260Z that detects acceleration in the Z-axis direction, as shown in FIG.

[3. (Tilt correction processing)
The rotation angle correction process in the digital video camera 100 will be described with reference to FIGS. FIG. 3 is a block diagram showing a configuration related to tilt correction processing in the digital video camera 100. FIG. 4A is a schematic diagram for explaining a method of calculating the tilt angle of the digital video camera 100. FIG. 4B is a schematic diagram for explaining a calculation method of the turning angle of the digital video camera 100. FIG. 5A is a schematic diagram for explaining the output of the angular velocity sensor 250 when there is no turning angle. FIG. 5B is a schematic diagram for explaining the output of the angular velocity sensor 250 when there is a turning angle.

  The rotation angle correction process in the digital video camera 100 is performed by sequentially executing Step 1 to Step 4. Step 1 is a step of calculating a tilt angle of the digital video camera 100 that is a static tilt and a turn angle. Step 2 is a step of calculating a dynamic tilt misdetection amount from the output of the angular velocity sensor 250Y and the turning angle calculated in Step 1. Step 3 is a step of calculating the dynamic inclination to be corrected by subtracting the dynamic inclination erroneous detection amount from the output of the angular velocity sensor 250R. Step 4 is a step of calculating the inclination to be corrected by adding the inclination angle, which is the static inclination calculated in Step 1, and the dynamic inclination to be corrected calculated in Step 3. Hereinafter, step 1 to step 4 will be described in order.

[3-1. Step 1]
First, in step 1, the tilt angle calculation unit 300 and the turn angle calculation unit 310 obtain the output from the acceleration sensor 260 as shown in FIG. 3. Specifically, the tilt angle calculation unit 300 and the turn angle calculation unit 310 obtain information regarding acceleration in the X-axis direction, information regarding acceleration in the Y-axis direction, and information regarding acceleration in the Z-axis direction of the digital video camera 100. .

Then, the tilt angle calculation unit 300 calculates the tilt angle of the digital video camera 100 based on the acquired information. A method for calculating the tilt angle will be described with reference to FIG. 4A. Here, the inclination angle is θ (deg). Further, X ₀ axis indicates the X-axis in the case where the digital video camera 100 is not tilted. X ₁ axis indicates the X-axis in the case where the digital video camera 100 is tilted inclination angle θ (deg). Y ₀ axis indicates the Y-axis when the digital video camera 100 is not tilted. The Y ₁ axis indicates the Y axis when the digital video camera 100 is inclined at an inclination angle θ (deg).

  The inclination angle θ (deg) is calculated by equation (1).

In formula (1), _{X 1} is an output of the acceleration sensor 260X. That, _{X 1} represents the acceleration of the _{X 1} axis. Y ₁ is an output of the acceleration sensor 260Y. That is, Y ₁ represents the acceleration in the Y ₁ axis direction. Z ₁ is an output of the acceleration sensor 260Z. That, _{Z 1} represents an acceleration of the _{Z 1} axial direction.

Further, the turning angle calculation unit 310 calculates the turning angle of the digital video camera 100 based on the acquired information. A method of calculating the turning angle will be described with reference to FIG. 4B. Here, the turning angle is φ (deg). The Z ₀ axis indicates the Z axis when the digital video camera 100 is not turned. The Z ₁ axis indicates the Z axis when the digital video camera 100 is turned at a turning angle φ (deg).

  The turning angle φ (deg) is calculated by the equation (2).

Note that X ₁ , Y ₁ , and Z ₁ in Formula (2) are the same as in Formula (1).

  The tilt angle calculation unit 300 and the turn angle calculation unit 310 perform a calculation process based on the equations (1) and (2), so that the tilt angle of the digital video camera 100 that is a static tilt and the digital video camera are calculated. 100 turn angles are calculated.

[3-2. Step 2]
Next, in step 2, as shown in FIG. 3, the misdetection amount calculation unit 320 acquires information on the angular velocity in the yaw direction of the digital video camera 100 from the angular velocity sensor 250Y, and the digital video camera from the turning angle calculation unit 310. Information on 100 turn angles is acquired. The erroneous detection amount calculation unit 320 calculates an erroneous detection amount related to dynamic tilt based on the acquired information related to the angular velocity in the yaw direction and the information related to the turning angle of the digital video camera 100.

  The reason why the erroneous detection related to the dynamic inclination occurs and the calculation method of the erroneous detection amount will be described with reference to FIGS. 5A and 5B. As shown in FIG. 5A, when the turning angle of the digital video camera 100 is 0 (deg), the centrifugal force r is generated when the digital video camera 100 is rotated in the yaw direction. In this case, the angular velocity sensor 250Y calculates the angular velocity by detecting the centrifugal force r. The angular velocity sensor 250R does not detect the centrifugal force r. That is, since the digital video camera 100 is not rotating in the roll direction, the angular velocity sensor 250R calculates 0 (deg / sec) as the angular velocity. In this case, the digital video camera 100 has not made a false detection regarding the dynamic tilt.

  On the other hand, as shown in FIG. 5B, it is assumed that the turning angle of the digital video camera 100 is φ (deg). In this case, when the digital video camera 100 is rotated in the horizontal direction shown in FIG. 5B, a centrifugal force r is generated. Then, the angular velocity sensor 250Y detects a component of r · cos φ out of the centrifugal force r as a centrifugal force. Further, the angular velocity sensor 250R detects a component corresponding to r · sin φ of the centrifugal force r as a centrifugal force. However, even if the digital video camera 100 is rotated in the horizontal direction shown in FIG. 5B, the digital video camera 100 is not actually rotated in the roll direction. That is, the digital video camera 100 erroneously detects the component of r · sin φ as a dynamic inclination.

  The erroneous detection amount calculation unit 320 can calculate the amount of dynamic inclination erroneously detected by the angular velocity sensor 250R based on information regarding the angular velocity in the yaw direction acquired from the angular velocity sensor 250Y. The ratio of the influence of the centrifugal force r on the angular velocity sensor 250R and the influence on the angular velocity sensor 250Y is sinφ: cosφ as shown in FIG. 5B. That is, by multiplying the output of the angular velocity sensor 250Y by sinφ / cosφ, the angular velocity relating to the dynamic inclination erroneously detected by the angular velocity sensor 250R can be calculated.

[3-3. Step 3, Step 4]
When the erroneous detection amount of the dynamic inclination is calculated by the erroneous detection amount calculation unit 320, the subtractor 330, as step 3, information on the angular velocity indicating the erroneous detection amount of the dynamic inclination from the erroneous detection amount calculation unit 320. And information on the angular velocity in the roll direction of the digital video camera 100 is obtained from the angular velocity sensor 250R. Then, the subtracter 330 subtracts the information regarding the angular velocity indicating the acquired dynamic detection error amount of the dynamic inclination from the acquired information regarding the angular velocity in the roll direction. Thereby, the subtractor 330 can calculate information regarding the angular velocity indicating the dynamic inclination to be corrected.

  Then, as step 4, the adder 340 adds the information related to the tilt angle calculated in step 1 and the value obtained by integrating the period of the vertical synchronization signal to the information related to the dynamic tilt to be corrected calculated in step 3. The amount of inclination to be corrected is calculated. The adder 340 outputs information regarding the calculated inclination to the image processing unit 160.

  Then, the image processing unit 160 adjusts the cut-out position of the image generated by the CMOS image sensor 140 based on the calculated information regarding the tilt. Thereby, the digital video camera 100 can correct the tilt with higher accuracy.

[4. Effect etc.)
As described above, the digital video camera 100 according to the present embodiment includes the CMOS image sensor 140, the angular velocity sensor 250R, the angular velocity sensor 250Y, the acceleration sensor 260, and the controller 180. The CMOS image sensor 140 captures the light imaged by the optical system 110 and generates image data. The angular velocity sensor 250R detects a first angular velocity that is an angular velocity around a first axis substantially parallel to the optical axis of the optical system 110. The angular velocity sensor 250Y detects a second angular velocity that is an angular velocity around a second axis that is an axis that is substantially perpendicular to the horizontal plane when the device is placed on the horizontal plane. The acceleration sensor 260 detects an angle of rotation about a third axis that is substantially perpendicular to a plane formed by the first axis and the second axis. The controller 180 performs processing on the information indicating the first angular velocity based on the information indicating the second angular velocity and the information indicating the angle.

  As a result, the digital video camera 100 can detect the tilt in the rotation direction about an axis substantially parallel to the optical axis with higher accuracy.

  The digital video camera 100 according to the present embodiment further includes an image processing unit 160. Based on the information indicating the first angular velocity after processing by the controller 180, the image processing unit 160 has all or part of the influence of rotation about the first axis on the image data generated by the CMOS image sensor 140. Correct.

  Thereby, the digital video camera 100 according to the present embodiment can correct the tilt with higher accuracy.

(Other embodiments)
As described above, the first embodiment has been described as an example of the technique disclosed in the present application. However, the technology in the present disclosure is not limited to this, and can also be applied to an embodiment in which changes, replacements, additions, omissions, and the like are appropriately performed. Moreover, it is also possible to combine each component demonstrated in the said Embodiment 1, and it can also be set as a new embodiment.

  Therefore, other embodiments will be exemplified below.

  In the first embodiment, the digital video camera 100 corrects the tilt by adjusting the cutout position of the image captured by the CMOS image sensor 140. However, it is not necessarily limited to such a configuration. For example, the CMOS image sensor 140 itself may be configured to rotate based on the detected inclination.

  In the first embodiment, the technique of the present disclosure is applied to the digital video camera 100. However, it is not necessarily limited to such a configuration. For example, the present invention can be applied to an interchangeable lens digital camera.

  In the first embodiment, the digital video camera 100 accurately corrects the tilt in the roll direction based on the information on the angular velocity in the yaw direction, the information on the angular velocity in the roll direction, and the information on the turn angle. It was. However, it is not necessarily limited to such a configuration. For example, it is possible to correct the inclination in the pitch direction with high accuracy and to correct the inclination in the yaw direction with high accuracy.

  As described above, the embodiments have been described as examples of the technology in the present disclosure. For this purpose, the accompanying drawings and detailed description are provided.

  Accordingly, among the components described in the accompanying drawings and the detailed description, not only the components essential for solving the problem, but also the components not essential for solving the problem in order to illustrate the above technique. May also be included. Therefore, it should not be immediately recognized that these non-essential components are essential as those non-essential components are described in the accompanying drawings and detailed description.

  Moreover, since the above-mentioned embodiment is for demonstrating the technique in this indication, a various change, substitution, addition, abbreviation, etc. can be performed in a claim or its equivalent range.

  The technology of the present disclosure can be applied to an imaging apparatus such as a digital video camera, a digital still camera, and a smartphone with a camera function.

DESCRIPTION OF SYMBOLS 100 Digital video camera 110 Optical system 120 Lens drive part 140 CMOS image sensor 150 A / D converter 160 Image processing part 170 Buffer 180 Controller 190 Card slot 200 Memory card 210 Operation member 220 Display monitor 240 Internal memory 250,250R, 250Y Angular velocity sensor 260, 260X, 260Y, 260Z Acceleration sensor 300 Inclination angle calculation unit 310 Turn angle calculation unit 320 False detection amount calculation unit 330 Subtractor 340 Adder

Claims (3)

An imaging unit that images the light imaged by the optical system and generates image data;
A first sensor that detects a first angular velocity that is an angular velocity about a first axis substantially parallel to the optical axis of the optical system;
A second sensor that detects a second angular velocity that is an angular velocity around a second axis that is an axis substantially perpendicular to the horizontal plane when the device is placed on a horizontal plane;
A third sensor for detecting an angle of rotation about a third axis substantially perpendicular to a plane formed by the first axis and the second axis;
A processing unit that performs processing on the information indicating the first angular velocity based on the information indicating the second angular velocity and the information indicating the angle;
Imaging device. Correction that corrects all or part of the influence of rotation around the first axis on image data generated by the imaging unit based on information indicating the first angular velocity after processing by the processing unit Further comprising
The imaging device according to claim 1. A first sensor that detects a first angular velocity that is an angular velocity about a first axis substantially parallel to the optical axis of the optical system;
A second sensor that detects a second angular velocity that is an angular velocity around a second axis that is an axis substantially perpendicular to the horizontal plane when placed on a horizontal plane;
A third sensor for detecting an angle of rotation about a third axis substantially perpendicular to a plane formed by the first axis and the second axis;
A processing unit that performs processing on the information indicating the first angular velocity based on the information indicating the second angular velocity and the information indicating the angle;
Detection device.

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